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Add joint softness per joint (#901)

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This commit is contained in:
Dragos Daian
2025-11-21 16:48:52 +01:00
committed by GitHub
parent 5f687b0d29
commit e40d3a9dce
22 changed files with 442 additions and 200 deletions
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21
src_testbed/ui.rs
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@@ -189,33 +189,24 @@ pub(crate) fn update_ui(
let mut substep_params = *integration_parameters;
substep_params.dt /= substep_params.num_solver_iterations as Real;
let curr_erp = substep_params.contact_erp();
let curr_cfm_factor = substep_params.contact_cfm_factor();
let curr_erp = substep_params.contact_softness.erp(substep_params.dt);
let curr_cfm_factor = substep_params
.contact_softness
.cfm_factor(substep_params.dt);
ui.add(
Slider::new(
&mut integration_parameters.contact_natural_frequency,
&mut integration_parameters.contact_softness.natural_frequency,
0.01..=120.0,
)
.text(format!("contacts Hz (erp = {curr_erp:.3})")),
);
ui.add(
Slider::new(
&mut integration_parameters.contact_damping_ratio,
&mut integration_parameters.contact_softness.damping_ratio,
0.01..=20.0,
)
.text(format!("damping ratio (cfm-factor = {curr_cfm_factor:.3})",)),
);
ui.add(
Slider::new(
&mut integration_parameters.joint_natural_frequency,
0.0..=1200000.0,
)
.text("joint erp"),
);
ui.add(
Slider::new(&mut integration_parameters.joint_damping_ratio, 0.0..=20.0)
.text("joint damping ratio"),
);
}
#[cfg(feature = "parallel")]